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    <title>gamitg</title>
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    <center>Scilab Function</center>
    <div align="right">Last update : April 1993</div>
    <p>
      <b>gamitg</b> -  H-infinity gamma iterations</p>
    <h3>
      <font color="blue">Calling Sequence</font>
    </h3>
    <dl>
      <dd>
        <tt>[gopt]=gamitg(G,r,prec [,options]);  </tt>
      </dd>
    </dl>
    <h3>
      <font color="blue">Parameters</font>
    </h3>
    <ul>
      <li>
        <tt>
          <b>G</b>
        </tt>: <tt>
          <b>syslin</b>
        </tt> list (plant realization )</li>
      <li>
        <tt>
          <b>r</b>
        </tt>: 1x2 row vector (dimension of <tt>
          <b>G22</b>
        </tt>)</li>
      <li>
        <tt>
          <b>prec</b>
        </tt>: desired relative accuracy on the norm</li>
      <li>
        <tt>
          <b>option</b>
        </tt>: string <tt>
          <b>'t'</b>
        </tt>
      </li>
      <li>
        <tt>
          <b>gopt</b>
        </tt>: real scalar, optimal H-infinity gain</li>
    </ul>
    <h3>
      <font color="blue">Description</font>
    </h3>
    <p>
      <tt>
        <b>gopt=gamitg(G,r,prec [,options])</b>
      </tt>
    returns the H-infinity optimal gain <tt>
        <b>gopt</b>
      </tt>.</p>
    <p>
      <tt>
        <b>G</b>
      </tt> contains the state-space matrices <tt>
        <b>[A,B,C,D]</b>
      </tt> of
    the plant with the usual partitions:</p>
    <pre>

   B = ( B1 , B2 ) ,    C = ( C1 ) ,    D = ( D11  D12)
                            ( C2 )          ( D21  D22)
   
    </pre>
    <p>
    These partitions are implicitly given in <tt>
        <b>r</b>
      </tt>: <tt>
        <b>r(1)</b>
      </tt>
    and <tt>
        <b>r(2)</b>
      </tt> are the dimensions of <tt>
        <b>D22</b>
      </tt> (rows x columns)</p>
    <p>
    With <tt>
        <b>option='t'</b>
      </tt>, <tt>
        <b>gamitg</b>
      </tt> traces each bisection step, i.e., 
    displays the lower and upper bounds and the current test point.</p>
    <h3>
      <font color="blue">See Also</font>
    </h3>
    <p>
      <a href="ccontrg.htm">
        <tt>
          <b>ccontrg</b>
        </tt>
      </a>,&nbsp;&nbsp;<a href="h_inf.htm">
        <tt>
          <b>h_inf</b>
        </tt>
      </a>,&nbsp;&nbsp;</p>
    <h3>
      <font color="blue">Author</font>
    </h3>
    <p>P. Gahinet</p>
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